stm32f10x_can.c

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    /* Set up the DLC */
    TxMessage->DLC &= (u8)0x0000000F;
    CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
    CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;

    /* Set up the data field */
    CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) | ((u32)TxMessage->Data[2] << 16) |
                                            ((u32)TxMessage->Data[1] << 8) | ((u32)TxMessage->Data[0]));
    CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) | ((u32)TxMessage->Data[6] << 16) |
                                            ((u32)TxMessage->Data[5] << 8) | ((u32)TxMessage->Data[4]));

    /* Request transmission */
    CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
  }

  return TransmitMailbox;
}

/*******************************************************************************
* Function Name  : CAN_TransmitStatus
* Description    : Check the transmission of a message.
* Input          : TransmitMailbox: the number of the mailbox that is used for
*                  transmission.
* Output         : None.
* Return         : CANTXOK if the CAN driver transmits the message, CANTXFAILED
*                  in an other case.
*******************************************************************************/
u32 CAN_TransmitStatus(u8 TransmitMailbox)
{
  /* RQCP, TXOK and TME bits */
  u32 State = 0;

  /* Check the parameters */
  assert(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));

  switch (TransmitMailbox)
  {
    case (0): State |= ((CAN->TSR & CAN_TSR_RQCP0) << 2);
      State |= ((CAN->TSR & CAN_TSR_TXOK0) >> 0);
      State |= ((CAN->TSR & CAN_TSR_TME0) >> 26);
      break;
    case (1): State |= ((CAN->TSR & CAN_TSR_RQCP1) >> 6);
      State |= ((CAN->TSR & CAN_TSR_TXOK1) >> 8);
      State |= ((CAN->TSR & CAN_TSR_TME1) >> 27);
      break;
    case (2): State |= ((CAN->TSR & CAN_TSR_RQCP2) >> 14);
      State |= ((CAN->TSR & CAN_TSR_TXOK2) >> 16);
      State |= ((CAN->TSR & CAN_TSR_TME2) >> 28);
      break;
    default:
      State = CANTXFAILED;
      break;
  }

  switch (State)
  {
      /* transmit pending  */
    case (0x0): State = CANTXPENDING;
      break;
      /* transmit failed  */
    case (0x5): State = CANTXFAILED;
      break;
      /* transmit succedeed  */
    case (0x7): State = CANTXOK;
      break;
    default:
      State = CANTXFAILED;
      break;
  }

  return State;
}

/*******************************************************************************
* Function Name  : CAN_CancelTransmit
* Description    : Cancels a transmit request.
* Input          : Mailbox number.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_CancelTransmit(u8 Mailbox)
{
  /* Check the parameters */
  assert(IS_CAN_TRANSMITMAILBOX(Mailbox));

  /* abort transmission */
  switch (Mailbox)
  {
    case (0): CAN->TSR |= CAN_TSR_ABRQ0;
      break;
    case (1): CAN->TSR |= CAN_TSR_ABRQ1;
      break;
    case (2): CAN->TSR |= CAN_TSR_ABRQ2;
      break;
    default:
      break;
  }
}

/*******************************************************************************
* Function Name  : CAN_FIFORelease
* Description    : Release a FIFO.
* Input          : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_FIFORelease(u8 FIFONumber)
{
  /* Check the parameters */
  assert(IS_CAN_FIFO(FIFONumber));

  /* Release FIFO0 */
  if (FIFONumber == CAN_FIFO0)
  {
    CAN->RF0R = CAN_RF0R_RFOM0;
  }
  /* Release FIFO1 */
  else /* FIFONumber == CAN_FIFO1 */
  {
    CAN->RF1R = CAN_RF1R_RFOM1;
  }
}

/*******************************************************************************
* Function Name  : CAN_MessagePending
* Description    : Return the number of pending messages.
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* Output         : None.
* Return         : NbMessage which is the number of pending message.
*******************************************************************************/
u8 CAN_MessagePending(u8 FIFONumber)
{
  u8 MessagePending=0;

  /* Check the parameters */
  assert(IS_CAN_FIFO(FIFONumber));

  if (FIFONumber == CAN_FIFO0)
  {
    MessagePending = (u8)(CAN->RF0R&(u32)0x03);
  }
  else if (FIFONumber == CAN_FIFO1)
  {
    MessagePending = (u8)(CAN->RF1R&(u32)0x03);
  }
  else
  {
    MessagePending = 0;
  }
  return MessagePending;
}

/*******************************************************************************
* Function Name  : CAN_Receive
* Description    : Receives a message.
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* Output         : RxMessage: pointer to a structure which contains CAN Id,
*                  CAN DLC, CAN datas and FMI number.
* Return         : None.
*******************************************************************************/
void CAN_Receive(u8 FIFONumber, CanRxMsg* RxMessage)
{
  /* Check the parameters */
  assert(IS_CAN_FIFO(FIFONumber));

  /* Get the Id */
  RxMessage->StdId = (u32)0x000007FF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 21);
  RxMessage->ExtId = (u32)0x0003FFFF & (CAN->sFIFOMailBox[FIFONumber].RIR >> 3);

  RxMessage->IDE = (u32)0x00000004 & CAN->sFIFOMailBox[FIFONumber].RIR;
  RxMessage->RTR = (u32)0x00000002 & CAN->sFIFOMailBox[FIFONumber].RIR;

  /* Get the DLC */
  RxMessage->DLC = (u32)0x0000000F & CAN->sFIFOMailBox[FIFONumber].RDTR;

  /* Get the FMI */
  RxMessage->FMI = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDTR >> 8);

  /* Get the data field */
  RxMessage->Data[0] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDLR;
  RxMessage->Data[1] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 8);
  RxMessage->Data[2] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 16);
  RxMessage->Data[3] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDLR >> 24);

  RxMessage->Data[4] = (u32)0x000000FF & CAN->sFIFOMailBox[FIFONumber].RDHR;
  RxMessage->Data[5] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 8);
  RxMessage->Data[6] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 16);
  RxMessage->Data[7] = (u32)0x000000FF & (CAN->sFIFOMailBox[FIFONumber].RDHR >> 24);

  /* Release the FIFO */
  CAN_FIFORelease(FIFONumber);
}

/*******************************************************************************
* Function Name  : CAN_Sleep
* Description    : Enters the low power mode.
* Input          : None.
* Output         : None.
* Return         : CANSLEEPOK if sleep entered, CANSLEEPFAILED in an other case.
*******************************************************************************/
u8 CAN_Sleep(void)
{
  u8 SleepStatus = 0;

  /* Sleep mode entering request */
  CAN->MCR |= CAN_MCR_SLEEP;
  SleepStatus = CANSLEEPOK;

  /* Sleep mode status */
  if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
  {
    /* Sleep mode not entered */
    SleepStatus = CANSLEEPFAILED;
  }

  /* At this step, sleep mode status */
  return SleepStatus;
}

/*******************************************************************************
* Function Name  : CAN_WakeUp
* Description    : Wakes the CAN up.
* Input          : None.
* Output         : None.
* Return         : CANWAKEUPOK if sleep mode left, CANWAKEUPFAILED in an other
*                  case.
*******************************************************************************/
u8 CAN_WakeUp(void)
{
  u8 WakeUpStatus = 0;

  /* Wake up request */
  CAN->MCR &= ~CAN_MCR_SLEEP;
  WakeUpStatus = CANWAKEUPFAILED;

  /* Sleep mode status */
  if ((CAN->MCR&CAN_MCR_SLEEP) == 0)
  {
    /* Sleep mode exited */
    WakeUpStatus = CANWAKEUPOK;
  }

  /* At this step, sleep mode status */
  return WakeUpStatus;
}

/*******************************************************************************
* Function Name  : CAN_GetFlagStatus
* Description    : Checks whether the CAN flag is set or not.
* Input          : CAN_FLAG: specifies the flag to check.
* Output         : None.
* Return         : The new state of CAN_FLAG (SET or RESET).
*******************************************************************************/
FlagStatus CAN_GetFlagStatus(u32 CAN_FLAG)
{
  FlagStatus bitstatus = RESET;

  /* Check the parameters */
  assert(IS_CAN_FLAG(CAN_FLAG));

  /* Check the status of the specified CAN flag */
  if ((CAN->ESR & CAN_FLAG) != (u32)RESET)
  {
    /* CAN_FLAG is set */
    bitstatus = SET;
  }
  else
  {
    /* CAN_FLAG is reset */
    bitstatus = RESET;
  }
  /* Return the CAN_FLAG status */
  return  bitstatus;
}

/*******************************************************************************
* Function Name  : CAN_ClearFlag
* Description    : Clears the CAN's pending flags.
* Input          : CAN_FLAG: specifies the flag to clear.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_ClearFlag(u32 CAN_FLAG)
{
  /* Check the parameters */
  assert(IS_CAN_FLAG(CAN_FLAG));

  /* Clear the selected CAN flags */
  CAN->ESR &= ~CAN_FLAG;
}

/*******************************************************************************
* Function Name  : CAN_GetITStatus
* Description    : Checks whether the CAN interrupt has occurred or not.
* Input          : CAN_IT: specifies the CAN interrupt source to check.
* Output         : None.
* Return         : The new state of CAN_IT (SET or RESET).
*******************************************************************************/
ITStatus CAN_GetITStatus(u32 CAN_IT)
{
  ITStatus pendingbitstatus = RESET;

  /* Check the parameters */
  assert(IS_CAN_IT(CAN_IT));

  switch (CAN_IT)
  {
    case CAN_IT_RQCP0:
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP0);
      break;
    case CAN_IT_RQCP1:
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP1);
      break;
    case CAN_IT_RQCP2:
      pendingbitstatus = CheckITStatus(CAN->TSR, CAN_TSR_RQCP2);
      break;
    case CAN_IT_FF0:
      pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FULL0);
      break;
    case CAN_IT_FOV0:
      pendingbitstatus = CheckITStatus(CAN->RF0R, CAN_RF0R_FOVR0);
      break;
    case CAN_IT_FF1:
      pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FULL1);
      break;
    case CAN_IT_FOV1:
      pendingbitstatus = CheckITStatus(CAN->RF1R, CAN_RF1R_FOVR1);
      break;
    case CAN_IT_EWG:
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EWGF);
      break;
    case CAN_IT_EPV:
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_EPVF);
      break;
    case CAN_IT_BOF:
      pendingbitstatus = CheckITStatus(CAN->ESR, CAN_ESR_BOFF);
      break;
    case CAN_IT_SLK:
      pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_SLAKI);
      break;
    case CAN_IT_WKU:
      pendingbitstatus = CheckITStatus(CAN->MSR, CAN_MSR_WKUI);
      break;

    default :
      pendingbitstatus = RESET;
      break;
  }

  /* Return the CAN_IT status */
  return  pendingbitstatus;
}

/*******************************************************************************
* Function Name  : CAN_ClearITPendingBit
* Description    : Clears the CAN抯 interrupt pending bits.
* Input          : CAN_IT: specifies the interrupt pending bit to clear.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_ClearITPendingBit(u32 CAN_IT)
{
  /* Check the parameters */
  assert(IS_CAN_IT(CAN_IT));

  switch (CAN_IT)
  {
    case CAN_IT_RQCP0:
      CAN->TSR = CAN_TSR_RQCP0; /* rc_w1*/
      break;
    case CAN_IT_RQCP1:
      CAN->TSR = CAN_TSR_RQCP1; /* rc_w1*/
      break;
    case CAN_IT_RQCP2:
      CAN->TSR = CAN_TSR_RQCP2; /* rc_w1*/
      break;
    case CAN_IT_FF0:
      CAN->RF0R = CAN_RF0R_FULL0; /* rc_w1*/
      break;
    case CAN_IT_FOV0:
      CAN->RF0R = CAN_RF0R_FOVR0; /* rc_w1*/
      break;
    case CAN_IT_FF1:
      CAN->RF1R = CAN_RF1R_FULL1; /* rc_w1*/
      break;
    case CAN_IT_FOV1:
      CAN->RF1R = CAN_RF1R_FOVR1; /* rc_w1*/
      break;
    case CAN_IT_EWG:
      CAN->ESR &= ~ CAN_ESR_EWGF; /* rw */
      break;
    case CAN_IT_EPV:
      CAN->ESR &= ~ CAN_ESR_EPVF; /* rw */
      break;
    case CAN_IT_BOF:
      CAN->ESR &= ~ CAN_ESR_BOFF; /* rw */
      break;
    case CAN_IT_WKU:
      CAN->MSR = CAN_MSR_WKUI;  /* rc_w1*/
      break;
    case CAN_IT_SLK:
      CAN->MSR = CAN_MSR_SLAKI;  /* rc_w1*/
      break;
    default :
      break;
  }
}

/*******************************************************************************
* Function Name  : CheckITStatus
* Description    : Checks whether the CAN interrupt has occurred or not.
* Input          : CAN_Reg: specifies the CAN interrupt register to check.
*                  It_Bit: specifies the interrupt source bit to check.
* Output         : None.
* Return         : The new state of the CAN Interrupt (SET or RESET).
*******************************************************************************/
static ITStatus CheckITStatus(u32 CAN_Reg, u32 It_Bit)
{
  ITStatus pendingbitstatus = RESET;

  if ((CAN_Reg & It_Bit) != (u32)RESET)
  {
    /* CAN_IT is set */
    pendingbitstatus = SET;
  }
  else
  {
    /* CAN_IT is reset */
    pendingbitstatus = RESET;
  }

  return pendingbitstatus;
}

/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/